2.
Klekovkin A. V., Karavaev Y. L., Kilin A. A., Nazarov A. V.
The influence of tail fins on the speed of an aquatic robot driven by internal moving masses
Computer Research and Modeling, 2024, vol. 16, no. 4, pp. 869-882
Abstract
pdf (4.54 Mb)
This paper describes the design of an aquatic robot moving on the surface of a fluid and driven by two internal moving
masses. The body of the aquatic robot in cross section has the shape of a symmetrical airfoil with a sharp edge. In this
prototype, two internal masses move in circles and are rotated by a single DC motor and a gear mechanism that transmits
torque from the motor to each mass. Angular velocities of moving masses are used as a control action, and the developed
kinematic scheme for transmitting rotation from the motor to the moving masses allows the rotation of two masses with
equal angular velocities in magnitude, but with a different direction of rotation. It is also possible to install additional tail
fins of various shapes and sizes on the body of this robot. Also in the work for this object, the equations of motion are
presented, written in the form of Kirchhoff equations for the motion of a solid body in an ideal fluid, which are supplemented
by terms of viscous resistance. A mathematical description of the additional forces acting on the flexible tail fin is presented.
Experimental studies on the influence of various tail fins on the speed of motion in the fluid were carried out with the
developed prototype of the robot. In this work, tail fins of the same shape and size were installed on the robot, while having
different stiffness. The experiments were carried out in a pool with water, over which a camera was installed, on which
video recordings of all the experiments were obtained. Next processing of the video recordings made it possible to obtain the
object’s movements coordinates, as well as its linear and angular velocities. The paper shows the difference in the velocities
developed by the robot when moving without a tail fin, as well as with tail fins having different stiffness. The comparison
of the velocities developed by the robot, obtained in experimental studies, with the results of mathematical modeling of the
system is given.
| Keywords: |
mobile robot, aquatic robot, motion simulation, experimental investigations |
| Citation: |
Klekovkin A. V., Karavaev Y. L., Kilin A. A., Nazarov A. V., The influence of tail fins on the speed of an aquatic robot driven by internal moving masses, Computer Research and Modeling, 2024, vol. 16, no. 4, pp. 869-882 |
| DOI: |
10.20537/2076-7633-2024-16-4-869-882 |
| Full text: |
pdf
(4.54 Mb)
|
Journal Info
| Impact-factor RSCI (2022): |
0.257 (Q4) |
| ISSN (print): |
2076-7633 |
| ISSN (online): |
2077-6853 |
| Site: |
http://crm.ics.org.ru/ |
